/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2024-07-07     86188       the first version
 */
#ifndef APPLICATIONS_INC_IMU_H_
#define APPLICATIONS_INC_USART_H_



void imuRxProTask(void *parameter);
rt_err_t imuCallback(rt_device_t dev, rt_size_t size);
void createImuDeviceAndTask(void);

void jp61Init(void);
void CopeSerial1Data(unsigned char *ucData);


typedef struct
{
    short a[3];
    short T;
}SAcc;
typedef struct
{
    short w[3];
    short T;
}SGyro;

typedef struct
{
    short Angle[3];
    short T;
}SAngle;

extern float Gyro[3];
extern float Angle[3];

extern SAngle   stcAngle;


#endif /* APPLICATIONS_INC_TIMER_H_ */
